Just changed mine last week.
As Magnul said, if you don't have Air Con fitted you'll be able to access
from underneath.
If you do have Air Con fitted, as I did, forget about access from underneath.
Way to do it in this case, in my opinion and experience, is from the top.
Remove the heatshield from over the exhaust, 5 minute job, for easier
access. Run your hand down the oil dipstick tube until you meet it's
entry point into the crankcase. Feel forward about 2" in front of the dipstick tube,
towards the front of the engine, and you will be able to feel the crank sensor.
No idea of your manual dexterity, but if you have a universal joint to fit onto
your socket, and are happy working blind, by touch and feel, you can remove
and refit the crank sensor from this position as long as you don't have 'dinner
plate' hands.
If the dipstick tube was removed, access would be easy. But I've no idea how
it's fixed into the crankcase.
If you don't have the correct tools or the manual dexterity, I would suggest
slipping off your Aux Belt, unbolting the Power Steering Pump, and move it out of the way
on it's flexible pipes.
The socket that fits your Heatshield mounting bolts is the same size as the Crank Sensor
mounting bolt. This will save you fiddling around blind on the Crank Sensor
'Guesstimating' the socket size you require.
Up to you how you attack it. But if you don't have Air Con, it should be fairly
straight forward from underneath.